OKMC Mar13 * SG169 * Dive index * Mission links * Dive 821 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  169 HEADING  230 ROLL_DEG  40 ALTIM_TOP_TURN_MARGIN  0
MISSION  8 ESCAPE_HEADING  0 C_ROLL_DIVE  2600 ALTIM_TOP_MIN_OBSTACLE  0
DIVE  821 ESCAPE_HEADING_DELTA  10 C_ROLL_CLIMB  2575 ALTIM_PING_DEPTH  0
N_DIVES  0 FIX_MISSING_TIMEOUT  0 HEAD_ERRBAND  10 ALTIM_PING_DELTA  0
D_SURF  3 TGT_DEFAULT_LAT  4736 ROLL_CNV  0.028270001 ALTIM_FREQUENCY  13
D_FLARE  3 TGT_DEFAULT_LON  -12218 ROLL_TIMEOUT  15 ALTIM_PULSE  7
D_TGT  980 TGT_AUTO_DEFAULT  0 R_PORT_OVSHOOT  -10 ALTIM_SENSITIVITY  2
D_ABORT  1020 SM_CC  592.89008 R_STBD_OVSHOOT  -10 XPDR_VALID  4
D_NO_BLEED  200 N_FILEKB  4 ROLL_AD_RATE  200 XPDR_INHIBIT  90
D_BOOST  130 FILEMGR  0 ROLL_MAXERRORS  1 INT_PRESSURE_SLOPE  0.0097660003
T_BOOST  4 CALL_NDIVES  1 ROLL_ADJ_GAIN  0 INT_PRESSURE_YINT  -1.1
D_FINISH  0 COMM_SEQ  0 ROLL_ADJ_DBAND  0 DEEPGLIDER  0
D_PITCH  0 PROTOCOL  9 VBD_MIN  435 DEEPGLIDERMB  0
D_SAFE  0 N_NOCOMM  1 VBD_MAX  3960 MOTHERBOARD  4
D_CALL  0 NOCOMM_ACTION  163 C_VBD  2852 DEVICE1  -1
SURFACE_URGENCY  0 N_NOSURFACE  0 VBD_DBAND  2 DEVICE2  -1
SURFACE_URGENCY_TRY  0 UPLOAD_DIVES_MAX  -1 VBD_CNV  -0.24529999 DEVICE3  -1
SURFACE_URGENCY_FORCE  0 CALL_TRIES  5 VBD_TIMEOUT  720 DEVICE4  -1
T_DIVE  300 CALL_WAIT  60 PITCH_VBD_SHIFT  0.003 DEVICE5  -1
T_MISSION  330 CAPUPLOAD  0 VBD_PUMP_AD_RATE_SURFACE  3 DEVICE6  -1
T_ABORT  1440 CAPMAXSIZE  100000 VBD_PUMP_AD_RATE_APOGEE  2 LOGGERS  0
T_TURN  225 HEAPDBG  0 VBD_BLEED_AD_RATE  8 LOGGERDEVICE1  53
T_TURN_SAMPINT  5 T_GPS  15 UNCOM_BLEED  20 LOGGERDEVICE2  -1
T_NO_W  120 N_GPS  20 VBD_MAXERRORS  1 LOGGERDEVICE3  -1
T_LOITER  0 T_GPS_ALMANAC  0 W_ADJ_DBAND  0 LOGGERDEVICE4  -1
T_EPIRB  0 T_GPS_CHARGE  -23721.533 DBDW  0 COMPASS_DEVICE  33
USE_BATHY  -8 T_RSLEEP  2 PITCH_W_GAIN  0 COMPASS2_DEVICE  150
USE_ICE  0 STROBE  0 PITCH_W_DBAND  0 PHONE_DEVICE  48
ICE_FREEZE_MARGIN  0.30000001 RAFOS_PEAK_OFFSET  1.5 CF8_MAXERRORS  20 GPS_DEVICE  32
D_OFFGRID  1000 RAFOS_CORR_THRESH  60 AH0_24V  150 RAFOS_DEVICE  -1
T_WATCHDOG  10 RAFOS_HIT_WINDOW  3600 AH0_10V  100 XPDR_DEVICE  24
RELAUNCH  1 PITCH_MIN  146 MINV_24V  22 SIM_W  0
APOGEE_PITCH  -5 PITCH_MAX  3945 MINV_10V  9.8000002 SIM_PITCH  0
MAX_BUOY  270 C_PITCH  2365 FG_AHR_10V  0 SEABIRD_T_G  0.0042608725
COURSE_BIAS  0 PITCH_DBAND  0.1 FG_AHR_24V  0 SEABIRD_T_H  0.00061783189
GLIDE_SLOPE  30 PITCH_CNV  0.003125763 PHONE_SUPPLY  -2 SEABIRD_T_I  2.1692709e-05
SPEED_FACTOR  1 P_OVSHOOT  0.039999999 PRESSURE_YINT  -154.03682 SEABIRD_T_J  2.1724361e-06
RHO  1.0275 PITCH_GAIN  32 PRESSURE_SLOPE  0.0001078585 SEABIRD_C_G  -10.034778
MASS  52063 PITCH_TIMEOUT  16 AD7714Ch0Gain  1 SEABIRD_C_H  1.1503564
NAV_MODE  0 PITCH_AD_RATE  165 TCM_PITCH_OFFSET  0 SEABIRD_C_I  -0.0019294197
FERRY_MAX  45 PITCH_MAXERRORS  1 TCM_ROLL_OFFSET  0 SEABIRD_C_J  0.0002327933
KALMAN_USE  2 PITCH_ADJ_GAIN  0 COMPASS_USE  4 SC_RECORDABOVE  2000.0
HD_A  0.00091300003 PITCH_ADJ_DBAND  0 ALTIM_BOTTOM_PING_RANGE  0 SC_PROFILE  3.0
HD_B  0.0119 ROLL_MIN  220 ALTIM_TOP_PING_RANGE  0 SC_XMITPROFILE  3.0
HD_C  2.0500001e-07 ROLL_MAX  3795 ALTIM_BOTTOM_TURN_MARGIN  0

Pre-dive calculations and measurements:
GPS1  040913,130905,2215.638,12216.266,24,1.5,24,-2.9 TGT_NAME  HEADING
_CALLS  1 TGT_LATLONG  2208.789,12207.318
_XMS_NAKs  0 TGT_RADIUS  1852.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  0.17 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -68.6 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  040913,131505,2215.731,12216.250,14,1.6,25,-2.9 MHEAD_RNG_PITCHd_Wd  232.9,20000,-4.4,-10.889,-18.53,3708
SPEED_LIMITS  0.189,0.325 D_GRID  4824

Post-dive calculations and measurements:
FINISH  0.2,0.000000 _10V_AH  10.0,81.753
SM_CCo  12087,89.85,0.119,0,0,432,592.89 FG_AHR_24Vo  0.000
SM_GC  0.07,7.00,0.00,89.85,0.028,0.000,0.119,136,2612,432,-6.90,0.34,592.89,0,0,0,0,0,0,25.61,28.83,25.20 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2206.70,12218.09,040913,090907 MEM  323572
TT8_MAMPS  0.02247,0.02247 DATA_FILE_SIZE  20057,539
HUMID  56.22 CAP_FILE_SIZE  113858,0
INTERNAL_PRESSURE  9.36915 CFSIZE  260034560,127066112
TCM_TEMP  24.50 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  0 GPS  040913,163954,2216.912,12215.178,42,1.1,42,-2.9
_24V_AH  23.8,115.007

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor1722795.76 nil000.00
Roll_motor122136400.46 nil000.00
VBD_pump_during_apogee65094414624.06 nil000.00
VBD_pump_during_surface89119255.20 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init000.00 nil000.00
Iridium_during_connect000.00 SciCon000.00
Iridium_during_xfer203109529.38 nil000.00
Transponder_ping04200.00 nil000.00
GUMSTIX_24V000.00
GPS26328.62
TT85581479.35
LPSleep90832198.94
TT8_Active6851497.39
TT8_Sampling171740694.45
TT8_CF847947229.61
TT8_Kalman000.00
Analog_circuits187212224.67
GPS_charging000.00
Compass14718121.23
RAFOS000.00
Transponder050.03

Guidance and control:
st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts
17 end surface: CONTROL_FINISHED_OK
state 17 begin dive
22 -0.93 -262.8 122 2553 630 240 0.0 0.0 0 110 0.00 0.00 -85.60 0.000 16386 0.000 0.000 122 2553 2623 2613 2633 0 0 0 0 0 0 28.83 28.83 28.83
116 -0.93 -262.8 122 2553 2615 2633 3.2 -6.0 9 155 8.15 2.35 -23.70 0.000 18692 0.228 0.057 2047 3829 3926 3898 3955 0 0 0 0 0 0 24.75 25.57 26.49
246 -0.93 -262.8 2046 3829 3905 3949 55.3 -39.0 22 252 0.00 2.03 0.00 0.000 1030 0.000 0.024 2047 2560 3927 3905 3949 0 0 0 0 0 0 28.83 25.96 28.83
567 -0.93 -262.8 2047 2558 3907 3947 164.5 -30.1 44 572 0.00 2.20 0.00 0.000 260 0.000 0.050 2036 3816 3927 3907 3947 0 0 0 0 0 0 28.83 25.41 28.83
638 -0.93 -262.8 2036 3817 3907 3946 182.3 -29.7 47 644 0.00 1.98 0.00 0.000 1030 0.000 0.027 2037 2568 3927 3908 3946 0 0 0 0 0 0 28.83 25.98 28.83
947 -0.93 -262.8 2037 2567 3910 3945 260.0 -21.7 63 948 0.00 0.00 0.00 0.000 6 0.000 0.000 2037 2567 3927 3910 3945 0 0 0 0 0 0 28.83 28.83 28.83
1247 -0.93 -262.8 2037 2567 3910 3945 320.0 -19.7 78 1252 0.00 2.17 0.00 0.000 260 0.000 0.044 2030 3833 3928 3911 3945 0 0 0 0 0 0 28.83 25.48 28.83
1353 -0.93 -262.8 2030 3833 3911 3945 339.9 -19.9 83 1359 0.10 1.98 0.00 0.000 3078 0.127 0.023 2065 2559 3927 3910 3945 0 0 0 0 0 0 25.63 26.08 28.83
1668 -0.93 -262.8 2064 2559 3910 3943 393.2 -16.9 99 1674 0.00 2.20 0.00 0.000 260 0.000 0.049 2059 3829 3926 3910 3943 0 0 0 0 0 0 28.83 25.37 28.83
1705 -0.93 -262.8 2059 3829 3910 3942 396.7 -17.2 100 1708 0.00 2.00 0.00 0.000 1030 0.000 0.023 2059 2549 3925 3909 3942 0 0 0 0 0 0 28.83 26.08 28.83
2008 -0.93 -262.8 2059 2549 3906 3941 451.4 -17.3 111 2013 0.00 2.22 0.00 0.000 260 0.000 0.045 2049 3833 3923 3906 3940 0 0 0 0 0 0 28.83 25.44 28.83
2062 -0.93 -262.8 2049 3833 3905 3940 456.4 -17.1 112 2066 0.00 2.00 0.00 0.000 1030 0.000 0.023 2050 2551 3922 3905 3940 0 0 0 0 0 0 28.83 26.06 28.83
2370 -0.93 -262.8 2050 2550 3899 3939 515.2 -17.7 123 2375 0.00 2.20 0.00 0.000 260 0.000 0.048 2045 3820 3919 3899 3939 0 0 0 0 0 0 28.83 25.37 28.83
2404 -0.93 -262.8 2045 3820 3898 3939 520.9 -17.9 124 2409 0.00 2.00 0.00 0.000 1030 0.000 0.027 2045 2563 3918 3898 3939 0 0 0 0 0 0 28.83 25.97 28.83
2729 -0.93 -262.8 2044 2563 3892 3939 582.9 -19.3 135 2730 0.00 0.00 0.00 0.000 6 0.000 0.000 2045 2563 3915 3892 3939 0 0 0 0 0 0 28.83 28.83 28.83
3031 -0.93 -262.8 2045 2563 3889 3936 639.5 -18.1 145 3037 0.00 2.20 0.00 0.000 260 0.000 0.050 2040 3816 3912 3888 3936 0 0 0 0 0 0 28.83 25.32 28.83
3090 -0.93 -262.8 2039 3816 3887 3936 650.9 -18.4 147 3096 0.00 2.03 0.00 0.000 1030 0.000 0.028 2040 2563 3911 3887 3936 0 0 0 0 0 0 28.83 25.92 28.83
3420 -0.93 -262.8 2040 2563 3885 3930 712.1 -18.2 158 3422 0.00 0.00 0.00 0.000 6 0.000 0.000 2040 2563 3907 3885 3930 0 0 0 0 0 0 28.83 28.83 28.83
3720 -0.93 -262.8 2040 2563 3882 3926 762.6 -16.5 168 3726 0.00 2.22 0.00 0.000 260 0.000 0.049 2033 3827 3904 3882 3926 0 0 0 0 0 0 28.83 25.24 28.83
3805 -0.93 -262.8 2033 3828 3881 3926 773.1 -17.1 170 3811 0.12 2.03 0.00 0.000 3078 0.142 0.026 2067 2558 3903 3881 3926 0 0 0 0 0 0 25.54 25.92 28.83
4142 -0.93 -262.8 2067 2558 3880 3920 829.4 -15.5 182 4148 0.00 2.60 0.00 0.000 516 0.000 0.031 2069 1144 3900 3880 3920 0 0 0 0 0 0 28.83 25.55 28.83
4191 -0.93 -262.8 2069 1144 3880 3920 834.0 -15.5 183 4197 0.00 2.75 0.00 0.000 1030 0.000 0.036 2060 2627 3900 3880 3920 0 0 0 0 0 0 28.83 25.40 28.83
4501 -0.93 -262.8 2060 2625 3876 3916 893.6 -19.0 194 4507 0.00 2.10 0.00 0.000 260 0.000 0.051 2051 3833 3896 3876 3916 0 0 0 0 0 0 28.83 25.19 28.83
4538 -0.93 -262.8 2051 3832 3875 3916 899.6 -19.2 195 4543 0.00 2.05 0.00 0.000 1030 0.000 0.028 2051 2562 3895 3875 3916 0 0 0 0 0 0 28.83 25.88 28.83
4862 -0.93 -262.8 2051 2562 3874 3912 965.2 -19.3 206 4867 0.00 2.53 0.00 0.000 516 0.000 0.033 2053 1160 3893 3874 3912 0 0 0 0 0 0 28.83 25.46 28.83
4886 -0.93 -262.8 2053 1160 3874 3912 965.2 -19.3 206 4892 0.00 2.70 0.00 0.000 1030 0.000 0.037 2046 2611 3892 3873 3912 0 0 0 0 0 0 28.83 25.32 28.83
4947 end dive: TARGET_DEPTH_EXCEEDED
state 4947 begin apogee
4959 -0.16 0.0 2046 2535 3872 3912 981.7 -18.4 209 5199 0.80 0.10 231.38 0.944 10246 0.110 0.053 2305 2600 2846 2951 2742 0 0 0 0 0 0 24.55 24.85 23.82
5202 end apogee: CONTROL_FINISHED_OK
state 5202 begin climb
5207 0.93 262.8 2305 2600 2940 2730 1003.9 0.0 217 5464 0.95 2.75 247.25 0.939 10756 0.037 0.024 2695 1111 1770 1885 1655 0 0 0 0 0 0 25.18 25.09 23.81
5480 0.93 262.8 2695 1109 1875 1640 985.5 15.1 226 5485 0.00 2.67 0.00 0.000 1030 0.000 0.024 2683 2595 1756 1874 1638 0 0 0 0 0 0 28.83 25.32 28.83
5789 0.93 262.8 2683 2593 1874 1626 925.7 18.0 237 5794 0.00 2.08 0.00 0.000 260 0.000 0.038 2673 3841 1749 1874 1625 0 0 0 0 0 0 28.83 25.59 28.83
5931 0.93 262.8 2673 3842 1872 1626 902.0 19.8 241 5937 0.00 2.08 0.00 0.000 1030 0.000 0.015 2683 2521 1749 1872 1626 0 0 0 0 0 0 28.83 26.11 28.83
6240 0.93 262.8 2684 2519 1872 1622 840.1 18.9 252 6245 0.00 2.25 0.00 0.000 260 0.000 0.037 2677 3840 1747 1872 1622 0 0 0 0 0 0 28.83 25.57 28.83
6334 0.93 262.8 2677 3840 1872 1622 821.3 20.3 255 6339 0.00 2.08 0.00 0.000 1030 0.000 0.015 2688 2495 1747 1872 1623 0 0 0 0 0 0 28.83 26.10 28.83
6661 0.93 262.8 2688 2494 1872 1620 760.4 18.0 266 6666 0.00 2.33 0.00 0.000 260 0.000 0.038 2678 3832 1746 1872 1620 0 0 0 0 0 0 28.83 25.50 28.83
6735 0.93 262.8 2677 3832 1872 1620 748.6 18.7 268 6740 0.00 2.05 0.00 0.000 1030 0.000 0.016 2688 2524 1746 1872 1620 0 0 0 0 0 0 28.83 26.11 28.83
7050 0.93 262.8 2688 2522 1872 1619 690.8 16.8 279 7055 0.00 2.28 0.00 0.000 260 0.000 0.038 2678 3834 1745 1872 1619 0 0 0 0 0 0 28.83 25.46 28.83
7151 0.93 262.8 2678 3834 1872 1619 675.0 17.3 282 7155 0.00 2.08 0.00 0.000 1030 0.000 0.015 2688 2530 1745 1872 1619 0 0 0 0 0 0 28.83 26.12 28.83
7473 0.93 262.8 2689 2514 1872 1618 622.5 15.5 293 7480 0.00 2.30 0.00 0.000 260 0.000 0.038 2678 3834 1745 1872 1618 0 0 0 0 0 0 28.83 25.41 28.83
7518 0.93 262.8 2678 3834 1872 1618 617.8 15.5 294 7524 0.00 2.08 0.00 0.000 1030 0.000 0.016 2688 2510 1745 1872 1618 0 0 0 0 0 0 28.83 26.08 28.83
7836 0.93 262.8 2689 2509 1872 1616 569.6 14.8 305 7841 0.00 2.28 0.00 0.000 260 0.000 0.037 2679 3831 1744 1872 1617 0 0 0 0 0 0 28.83 25.39 28.83
8010 0.93 262.8 2679 3831 1872 1617 544.0 17.2 310 8016 0.00 2.05 0.00 0.000 1030 0.000 0.016 2689 2515 1744 1872 1617 0 0 0 0 0 0 28.83 26.06 28.83
8347 0.93 262.8 2690 2513 1872 1616 484.3 16.3 322 8353 0.00 2.28 0.00 0.000 260 0.000 0.038 2679 3842 1744 1872 1616 0 0 0 0 0 0 28.83 25.34 28.83
8396 0.93 262.8 2679 3842 1872 1616 479.2 16.2 323 8402 0.00 2.08 0.00 0.000 1030 0.000 0.016 2689 2511 1744 1872 1616 0 0 0 0 0 0 28.83 26.04 28.83
8708 0.93 262.8 2690 2509 1872 1615 428.5 14.5 334 8714 0.00 2.42 0.00 0.000 516 0.000 0.024 2702 1114 1744 1872 1616 0 0 0 0 0 0 28.83 25.60 28.83
8767 0.93 262.8 2702 1114 1865 1618 420.1 13.9 336 8774 0.08 2.62 0.00 0.000 5126 0.142 0.024 2671 2598 1741 1865 1618 0 0 0 0 0 0 25.27 25.59 28.83
9089 0.96 275.1 2671 2596 1865 1619 383.2 10.5 349 9099 0.00 2.10 5.75 0.603 8452 0.000 0.037 2661 3848 1732 1853 1611 0 0 0 0 0 0 28.83 25.56 24.46
9145 0.96 275.1 2660 3849 1845 1605 376.9 11.0 351 9150 0.00 2.05 0.00 0.000 1030 0.000 0.015 2671 2503 1725 1846 1605 0 0 0 0 0 0 28.83 26.09 28.83
9463 0.96 275.1 2672 2500 1846 1603 340.5 12.2 367 9465 0.00 0.00 0.00 0.000 6 0.000 0.000 2672 2500 1724 1845 1603 0 0 0 0 0 0 28.83 28.83 28.83
9765 0.96 275.1 2672 2500 1845 1603 305.2 11.0 382 9771 0.00 2.30 0.00 0.000 260 0.000 0.037 2662 3834 1723 1845 1602 0 0 0 0 0 0 28.83 25.31 28.83
9784 0.96 275.1 2661 3834 1846 1603 302.8 11.0 383 9790 0.00 2.08 0.00 0.000 1030 0.000 0.016 2672 2497 1724 1846 1603 0 0 0 0 0 0 28.83 26.04 28.83
10105 1.27 377.0 2673 2495 1846 1603 273.1 8.1 399 10216 0.22 2.55 102.22 0.558 10756 0.054 0.025 2808 1097 1300 1468 1132 0 0 0 0 0 0 26.23 25.34 24.20
10404 1.27 377.0 2808 1097 1462 1100 224.4 19.1 413 10410 0.00 2.62 0.00 0.000 1030 0.000 0.022 2796 2592 1280 1461 1100 0 0 0 0 0 0 28.83 25.63 28.83
10712 1.27 377.0 2796 2590 1462 1098 169.9 15.5 429 10718 0.00 2.65 0.00 0.000 516 0.000 0.024 2809 1099 1279 1462 1097 0 0 0 0 0 0 28.83 25.60 28.83
10829 1.27 377.0 2808 1099 1462 1095 155.6 13.6 434 10834 0.00 2.60 0.00 0.000 1030 0.000 0.022 2802 2590 1278 1462 1095 0 0 0 0 0 0 28.83 25.69 28.83
11156 1.27 377.0 2802 2588 1462 1095 105.9 14.7 451 11161 0.00 2.60 0.00 0.000 516 0.000 0.024 2814 1112 1278 1462 1095 0 0 0 0 0 0 28.83 25.65 28.83
11194 1.27 377.0 2814 1112 1462 1095 99.8 14.7 453 11201 0.10 2.62 0.00 0.000 5126 0.142 0.022 2781 2599 1278 1462 1095 0 0 0 0 0 0 25.25 25.70 28.83
11505 1.33 398.3 2782 2597 1462 1095 63.8 10.3 484 11527 0.00 2.03 18.02 0.168 8452 0.000 0.033 2771 3843 1232 1416 1048 0 0 0 0 0 0 28.83 25.71 24.76
11566 1.35 404.5 2771 3842 1415 1080 57.7 10.7 489 11583 0.00 2.03 11.20 0.212 9222 0.000 0.014 2783 2486 1203 1388 1018 0 0 0 0 0 0 28.83 26.16 24.76
11893 1.47 442.9 2782 2486 1389 1061 26.6 9.8 522 11933 0.12 2.47 32.62 0.168 10756 0.081 0.023 2872 1092 1053 1241 865 0 0 0 0 0 0 26.32 25.89 25.02
11956 1.47 442.9 2872 1091 1243 882 18.3 14.4 528 11964 0.00 2.65 2.45 0.149 9222 0.000 0.020 2860 2612 1044 1235 854 0 0 0 0 0 0 28.83 25.88 24.96
12052 end climb: SURFACE_DEPTH_REACHED
state 12052 begin surface coast
12062 end surface coast: CONTROL_FINISHED_OK
state 12063 begin surface